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esmini / esmini

a basic OpenSCENARIO player
Mozilla Public License 2.0
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API: Frenet and Cartesian #438

Open kikiQuentin opened 1 year ago

kikiQuentin commented 1 year ago

Hello, Is there an API that the Frenet coordinate system and the Cartesian coordinate system can convert to each other?

eknabevcc commented 1 year ago

Assuming that Frenet coordinate system is same as OpenSCENARIO/OpenDRIVE road coordinate system:

Yes, it's very possible to convert between road and Cartesian systems. The question is similar to #437 - please check it, hopefully it provides some guidance.

Otherwise let us know more about your use case, and we'll hopefully be able to assist.

kikiQuentin commented 1 year ago

Thank you for your answer. This allows me to better positon the problem. Lateral position, road reference line, lane offset, t, are there any connections between them? And how I can get road reference line info?